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<pre><span class="sourceLineNo">001</span>/*<a name="line.1"></a>
<span class="sourceLineNo">002</span> * To change this license header, choose License Headers in Project Properties.<a name="line.2"></a>
<span class="sourceLineNo">003</span> * To change this template file, choose Tools | Templates<a name="line.3"></a>
<span class="sourceLineNo">004</span> * and open the template in the editor.<a name="line.4"></a>
<span class="sourceLineNo">005</span> */<a name="line.5"></a>
<span class="sourceLineNo">006</span>package edu.wpi.first.wpilibj.templates.commands.lifter;<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span><a name="line.8"></a>
<span class="sourceLineNo">009</span>import edu.wpi.first.wpilibj.templates.commands.CommandBase;<a name="line.9"></a>
<span class="sourceLineNo">010</span><a name="line.10"></a>
<span class="sourceLineNo">011</span><a name="line.11"></a>
<span class="sourceLineNo">012</span>/**<a name="line.12"></a>
<span class="sourceLineNo">013</span> *<a name="line.13"></a>
<span class="sourceLineNo">014</span> * @author lenovo<a name="line.14"></a>
<span class="sourceLineNo">015</span> */<a name="line.15"></a>
<span class="sourceLineNo">016</span>public class MoveToKnownCycles extends CommandBase {<a name="line.16"></a>
<span class="sourceLineNo">017</span>    private int cycles;<a name="line.17"></a>
<span class="sourceLineNo">018</span>    public MoveToKnownCycles(int cycles) {<a name="line.18"></a>
<span class="sourceLineNo">019</span>        // Use requires() here to declare subsystem dependencies<a name="line.19"></a>
<span class="sourceLineNo">020</span>        // eg. requires(chassis);<a name="line.20"></a>
<span class="sourceLineNo">021</span>        this.cycles = cycles;<a name="line.21"></a>
<span class="sourceLineNo">022</span>    }<a name="line.22"></a>
<span class="sourceLineNo">023</span><a name="line.23"></a>
<span class="sourceLineNo">024</span>    // Called just before this Command runs the first time<a name="line.24"></a>
<span class="sourceLineNo">025</span>    protected void initialize() {<a name="line.25"></a>
<span class="sourceLineNo">026</span>        if (lifter.countCycles() &gt; cycles)<a name="line.26"></a>
<span class="sourceLineNo">027</span>            lifter.setRailSpeed(-0.5);<a name="line.27"></a>
<span class="sourceLineNo">028</span>        else if (lifter.countCycles() &lt; cycles)<a name="line.28"></a>
<span class="sourceLineNo">029</span>            lifter.setRailSpeed(0.5);<a name="line.29"></a>
<span class="sourceLineNo">030</span>    }<a name="line.30"></a>
<span class="sourceLineNo">031</span><a name="line.31"></a>
<span class="sourceLineNo">032</span>    // Called repeatedly when this Command is scheduled to run<a name="line.32"></a>
<span class="sourceLineNo">033</span>    protected void execute() {<a name="line.33"></a>
<span class="sourceLineNo">034</span>    }<a name="line.34"></a>
<span class="sourceLineNo">035</span><a name="line.35"></a>
<span class="sourceLineNo">036</span>    // Make this return true when this Command no longer needs to run execute()<a name="line.36"></a>
<span class="sourceLineNo">037</span>    protected boolean isFinished() {<a name="line.37"></a>
<span class="sourceLineNo">038</span>        return (lifter.countCycles() == cycles);<a name="line.38"></a>
<span class="sourceLineNo">039</span>    }<a name="line.39"></a>
<span class="sourceLineNo">040</span><a name="line.40"></a>
<span class="sourceLineNo">041</span>    // Called once after isFinished returns true<a name="line.41"></a>
<span class="sourceLineNo">042</span>    protected void end() {<a name="line.42"></a>
<span class="sourceLineNo">043</span>        lifter.setRailSpeed(0);<a name="line.43"></a>
<span class="sourceLineNo">044</span>    }<a name="line.44"></a>
<span class="sourceLineNo">045</span><a name="line.45"></a>
<span class="sourceLineNo">046</span>    // Called when another command which requires one or more of the same<a name="line.46"></a>
<span class="sourceLineNo">047</span>    // subsystems is scheduled to run<a name="line.47"></a>
<span class="sourceLineNo">048</span>    protected void interrupted() {<a name="line.48"></a>
<span class="sourceLineNo">049</span>    }<a name="line.49"></a>
<span class="sourceLineNo">050</span>}<a name="line.50"></a>




























































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